Details
| Original language | English |
|---|---|
| Title of host publication | 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022 |
| Pages | 1410-1422 |
| Number of pages | 13 |
| ISBN (electronic) | 9781713871361 |
| Publication status | Published - 2022 |
Abstract
Critical issues for the integrity monitoring of any autonomous navigation applications include adequate uncertainty budget in the observation domain, the redundancy for the determination of the navigational states, as well as the capability of fault detection and exclusion (FDE). Purely statistical evaluation of integrity will not always be adequate due to the presence of remaining systematic uncertainty. This paper aims to contribute to the alternative integrity approach based on interval and set-representations for bounding and propagating system uncertainty. Several key aspects are addressed: how to determine interval bounds to handle GNSS multipath effect in urban environment, how to realize fault detection and exclusion based on constraint satisfaction and set-membership, and how to improve the detector using weighting models. Simulated and real-world experiments are carried out to demonstrate the feasibility of proposed methods. In this way, the alternative integrity approach will contribute to future autonomous navigation applications.
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Computer Science(all)
- Information Systems
- Social Sciences(all)
- Communication
- Engineering(all)
- Electrical and Electronic Engineering
- Computer Science(all)
- Computer Networks and Communications
- Computer Science(all)
- Computer Science Applications
Research Area (based on ÖFOS 2012)
- TECHNICAL SCIENCES
- Environmental Engineering, Applied Geosciences
- Geodesy, Surveying
- Navigation systems
- NATURAL SCIENCES
- Mathematics
- Mathematics
- Mathematical statistics
- TECHNICAL SCIENCES
- Environmental Engineering, Applied Geosciences
- Geodesy, Surveying
- Satellite geodesy
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35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. 2022. p. 1410-1422.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Advances in Deterministic Approaches for Bounding Uncertainty and Integrity Monitoring of Autonomous Navigation
AU - Su, Jingyao
AU - Schön, Steffen
N1 - Publisher Copyright: © International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. All rights reserved.
PY - 2022
Y1 - 2022
N2 - Critical issues for the integrity monitoring of any autonomous navigation applications include adequate uncertainty budget in the observation domain, the redundancy for the determination of the navigational states, as well as the capability of fault detection and exclusion (FDE). Purely statistical evaluation of integrity will not always be adequate due to the presence of remaining systematic uncertainty. This paper aims to contribute to the alternative integrity approach based on interval and set-representations for bounding and propagating system uncertainty. Several key aspects are addressed: how to determine interval bounds to handle GNSS multipath effect in urban environment, how to realize fault detection and exclusion based on constraint satisfaction and set-membership, and how to improve the detector using weighting models. Simulated and real-world experiments are carried out to demonstrate the feasibility of proposed methods. In this way, the alternative integrity approach will contribute to future autonomous navigation applications.
AB - Critical issues for the integrity monitoring of any autonomous navigation applications include adequate uncertainty budget in the observation domain, the redundancy for the determination of the navigational states, as well as the capability of fault detection and exclusion (FDE). Purely statistical evaluation of integrity will not always be adequate due to the presence of remaining systematic uncertainty. This paper aims to contribute to the alternative integrity approach based on interval and set-representations for bounding and propagating system uncertainty. Several key aspects are addressed: how to determine interval bounds to handle GNSS multipath effect in urban environment, how to realize fault detection and exclusion based on constraint satisfaction and set-membership, and how to improve the detector using weighting models. Simulated and real-world experiments are carried out to demonstrate the feasibility of proposed methods. In this way, the alternative integrity approach will contribute to future autonomous navigation applications.
UR - http://www.scopus.com/inward/record.url?scp=85162905075&partnerID=8YFLogxK
U2 - 10.33012/2022.18418
DO - 10.33012/2022.18418
M3 - Conference contribution
SP - 1410
EP - 1422
BT - 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022
ER -